柔性机械臂的线性二次型最优振动控制  

Vibration control of flexible manipulator based on linear quadratic regulator

作　　者：常志[1] 金国光[1,2] 唐国潮[1] 孙占庚[1] 

机构地区：[1]天津工业大学机械电子学院,天津300160 [2]天津市现代机电装备技术重点实验室,天津300160

出　　处：《天津工程师范学院学报》2009年第4期15-18,共4页Journal of Tianji University of Technology and Education

基　　金：国家自然科学基金资助项目(50675054);天津市自然科学基金资助项目(09JCYBJC04600)

摘　　要：依据柔性机械臂动力学模型建立了控制模型及状态空间方程的一般形式,并将线性二次型最优理论应用于柔性机械臂的振动控制。介绍了线性二次最优控制中加权矩阵的作用,讨论了加权矩阵对控制系统的影响,依线性二次型最优控制理论,用Matlab数值仿真比较了柔性机械臂的振动控制效果,仿真结果表明,柔性机械臂的弹性振动得到有效抑制。Dynamic model of flexible manipulators based on established control model and state-space equation of the general form is established,and the theory of linear quadratic optimal vibration is applied to flexible manipulator.The linear quadratic optimal control weighting matrix in the role is elaborated,and through the numerical simulation the weighted matrix of control systems are also discussed in this paper.According to the linear quadratic optimal control theory,the effects of flexible manipulator′ s vibration control are compared with the numerical simulation of Matlab. Simulation results show that the elastic vibration of flexible manipulator to be effectively checked.

关 键 词：振动控制 柔性机械臂 加权矩阵 线性二次最优控制理论 

分 类 号：TH113.1[机械工程—机械设计及理论]